Linmot-Talk 6 Configuration Software

LinMot-Talk 6 Configuration Software

Manual

June 2018 Doc.: 0185-1059-E_6V7_MA_LinMotTalk © 2018 NTI AG This work is protected by copyright. Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying, recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole or in part, without the prior written consent of NTI AG.

LinMot® is a registered trademark of NTI AG.

Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation. NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement.

NTI AG Tel.: +41 56 419 91 91 LinMot Fax.: +41 56 419 91 92 Bodenaeckerstrasse 2 Email: [email protected] CH-8957 Spreitenbach Homepage: www.LinMot.com

2 / 60 NTI AG / LinMot 1. Introduction ...... 5

1.1 System Generation (SG) ...... 5 1.2 UPID (Unique Parameter ID) ...... 5 1.3 PnP (Pug and Play) ...... 5 2. Overview ...... 7

2.1 Tool button bar ...... 7 2.2 Control Panel ...... 8 2.3 Messages ...... 9 2.4 Errors ...... 9 2.5 Oscilloscope ...... 10 2.6 Curves ...... 11 2.7 Parameters ...... 12 2.8 Variables ...... 13 2.9 Command Table ...... 15 2.10 Access Codes ...... 15 2.11 Information Window ...... 17 3. Quick Start Guide ...... 17

3.1 Cabling E1100 ...... 17 3.2 Cabling E1200 ...... 19 3.3 Cabling E1400 ...... 20 3.4 Cabling B1100 ...... 21 3.5 Cabling B8050-ML ...... 22 3.6 Cabling A1100 ...... 23 3.7 Cabling C1100 ...... 24 3.8 Cabling C1200 ...... 25 3.9 Cabling M8000 ...... 26 3.10 Firmware Download ...... 27 3.11 Login ...... 28 3.12 Scanning CAN Bus ...... 28 3.13 Scanning Ethernet ...... 29 3.14 Motor Wizard ...... 30 3.14.1 Actuator Selection ...... 31 3.14.2 Drive Settings ...... 33

NTI AG / LinMot 3 / 60 3.14.3 Extantion Cable Setup ...... 34 3.14.4 External Position Sensor System ...... 35 3.14.5 Feed Forward Parameters ...... 36 3.14.6 PID Position Controller ...... 37 3.14.7 Homing 1 ...... 38 3.14.8 Homing 2 ...... 39 3.14.9 Homing 3 ...... 40 3.15 Unit System ...... 41 3.16 Continuous Curve Mode ...... 41 3.17 Defining Curves ...... 43 3.18 Control Status ...... 48 3.19 Oscilloscope ...... 49 3.19.1 Display Settings ...... 51 3.20 Continuous Two Point Mode ...... 51 3.21 Export Configuration ...... 53 3.22 Import Configuration ...... 54 3.23 Open Offline Configuration ...... 54 3.24 Create Offline Configuration ...... 55 3.25 Compare Parameters ...... 55 4. Trouble shooting ...... 57

4.1 Setting all Parameters to Default Values ...... 57 4.2 Interface does not run ...... 57 4.3 Stopping Firmware ...... 57 4.4 Communication debug Window ...... 58

4 / 60 NTI AG / LinMot 1 Introduction

The LinMot-Talk 6 software is a PC based tool, which helps the user in a comfortable way installing firmware on the drive, setting up the drive’s configuration, defining and programming motion profiles, emulating the PLC, watching variables and reading messages and errors. The LinMot-Talk 6 works with the drive series A1100, B1100, C1100, E1100, C1200, E1200, E1400 and B8050. It replaces the LinMot-Talk1100 software. For the rest of this document and all other documents, the more general term “LinMot-Talk” will be used for the Linmot- PC configuration software.

1.1 System Generation (SG)

The LinMot drive families are based on different hardware platforms, which are called system generations. The abbreviation is “SG”. Whereas differences of hardware of software functionality exist between the system generations, the documentation is marked with the “SG” term. The following table gives an overview of which drive family belongs to which SG:

SG Drives SG1 Families E400, E4000 V1 (not supported by LinMot-Talk 6) SG2 Families E400, E4000 V2 (not supported by LinMot-Talk 6) SG3 Family E1100 (GP, CO, DN, DP) (LC/HC/XC) SG4 Family B1100 (VF, PP, GP, ML) (LC/HC/XC) SG5 Family E1200 (GP, DP, DS, EC, IP, PD, PL, PN, SC, SE) Family E1400 (GP, DP, DS, EC, IP, PD, PL, PN, SC, SE) (0S/1S) Family B8000-ML (GP, EC, IP, PL, SC) SG6 Family C1250 (DS, EC, IP, PD, PL, PN, SC, SE) (0S/1S) Family E1400V2 (GP, DP, DS, EC, IP, PD, PL, PN, SC, SE) (0S/1S) SG7 Family A1100 Family C1100 (GP, DS, EC, PD, PN, SE) (0S/1S)

1.2 UPID (Unique Parameter ID)

All parameters have an assigned identification number, which is called a UPID (Unique Parameter ID). All parameters are accessed on the drive over this identification.

1.3 PnP (Pug and Play)

The drive families A1100, C1100, C1200, E1200 and E1400 support the so called „Plug and Play“ functionality. When a motor is connected to the drive, the motor will be automatically detected and the parameters will be set accordingly. The drive then can control the motor without any further configuration procedure. When starting the motor wizard, the connected motor is already selected and all the further configuration, such as exact slider, moving mass, friction etc can be set up. All components (drives and motors) which support the plug and play functionality are marked on the type label with “PnP”. The drive startup sequence is the following:

NTI AG / LinMot 5 / 60 *) All parameters, which are set by the previous PnP motor and do not exist in the new motor will be set to default values prior to load the new parameters.

6 / 60 NTI AG / LinMot 2 Overview

The most used functions after a start of the LinMot-Talk software is Install firmware or Login to a drive. The following screenshot gives an overview of the different functions integrated in the LinMot-Talk software. The Configuration and Setup Tools the Drive Selection and the Shortcuts to Tools are in the tool button bar. In the control panel are the Control/Status Window, the IO Panel, the Motion Command Window and the Monitoring Window.

2.1 Tool button bar

The tool button bar is always present and consists of the following buttons (from left): Show/Hide Tree shows or hides the project tree window. Up sets the focus in the project tree to the parent of the selection. Toggle toggles between the last two displayed tree branches. Import Configuration imports configurations to the drives. Export Configuration exports configurations. Different drives and parts, such as parameters, variables, oscilloscope or curves, can be selected to be exported. Print prints items like curves, parameter configurations etc. Install Firmware Start the drive’s firmware installation. Open Login, login to all drives in the selected workspace.

Save Login, save the actual workspace Reboot restarts the firmware on the drive. Stop stops the firmware on the drive, used for downloading and software configuration. Blink sends a blink LED command to the drive, which is selected.

NTI AG / LinMot 7 / 60 Default: Parameters can be defaulted by instances. With this button, the default parameter procedure is started. A window will be shown where the instances (OS, MC, INTF and APPL software) can be selected. All parameters of the selected instances will be set to their default value. Go Offline logs out from actual drive. Start Motor Wizard starts the motor configuration setup wizard. Show Control Panel switches to the control panel. Show Parameters switches to the variables. Show Variables switches to the variables. Show Oscilloscope switches to the oscilloscope. Show Messages switch to the message viewer. Show Errors switches to error viewer. Show Curves switches to the curve tool. Show Command Table switches to the command table editor. Show Object Inspector displays a window in which shows help information to each selected object. Shows one decimal place more, for numbers like variable values. This button is only activated when the option "Round the decimal places" is activated. Shows one decimal place less, for numbers like variable values. This button is only activated when the option "Round the decimal places" is activated. Activates the Information Window. This window will be showed on the bottom of the LinMot-Talk when there is a message inside and it is activated. 2.2 Control Panel

The Control Panel helps the user to access directly to the control and status word of the MC Software. The drive can be commanded from the PC, thus no PLC is necessary to be used for the first commissioning.

Control Word The MC software’s control word can be directly written from the PC. For taking over the PC control the left check box (Enable Manual Override) must be selected. The state of each flag can be set with the right check box (Override Value). If other flags have to be altered, the override mask must be configured in the

8 / 60 NTI AG / LinMot parameter tree under \Parameters\Motion Control SW\State Machine Setup\Control Word\Ctrl, Word Parameter Force Mask. Status Word The status word shows the actual state of the drive’s MC software status word. It is updated automatically. General Monitoring This window displays actual motor and drive information Additional Variables In this window variables could be chosen, then they are shown in the list and would updated automatically. IO Panel For commissioning. The user can take control of the X4 IOs on E1100 or X14 IOs on B1100 drives. Motion Command Interface The MC software’s motion command Interface can be directly accessed over this window. When enabled (Enable Manual Override switch must be set), MC commands can be selected, parametrized and sent to the drive. Because the motion command interface is, independent of the interface running on the drive, the same, the commands can be exactly tested before programming them in the PLC.

2.3 Messages

This panel reads out and shows all messages, which are logged on the drive, and displays them in chronological order. If logged in a B1100 series drive, this window does not appear, because those drives do not support message logging. To get some informations aubout a message, select the message and press F1, the object inspector will show some information about the selected message.

2.4 Errors

This panel reads out and shows all errors, which are logged on the drive and displays them in chronological order. Install new firmware will logged because it is interesting if the error was before or after installing a new firmware. To receive more information about an error, select the error and press F1, the object inspector will show some information about the selected error. It is possible to get the information about all errors by generate an error list under Manuals -> Errors. The error list is a HTML Document and will open in a browser. There are error lists for every

NTI AG / LinMot 9 / 60 software layer. Therefore it is important to have a look on the source of an error. The source symbolises the layer where the error is explained.

2.5 Oscilloscope

The drive’s built in oscilloscope, which can record up to eight channels in real time, is controlled with the oscilloscope tool. During login the oscilloscope reads out the settings and data from the drive. If an oscilloscope shot is running or ready to read out data, an item called “Read out” will be displayed. Otherwise a default item will be generated.

The oscilloscope is controlled with the buttons

The functions are (from left): Start/Abort Start or abort an oscilloscope shot. The button changes the symbol Abort the actual record. Abort the continous mode and stop after the next record. Fit View Displays the recorded channels such as they fit best in the scope window. Fit View (same unit same fit) Displays the recorded channels such as the channels with the same unit have the same scaling and offset. Save Display stores the settings for zoom, scaling and offset. Recall Display restores the settings for zoom, scaling and offset, which are previously stored with Save Display. Export Data: Export data and setups of the last recorded oscilloscope shot in a csv file.

10 / 60 NTI AG / LinMot Oscilloscope Settings Switch to setup mask for channels, triggers, times and modes. Display Settings is used to set scale, offset and color for the oscilloscope channels. Show/Hide: Show and hide the oscilloscope channels. Show/Hide Cursor: Two time cursors can be displayed for measuring the signals. Statistics Value: This button opens a window that shows some statistics value for each channel. The calculation is between the two cursors. When both cursor are disabled then the calculations are over the whole oscilloscope shot.

2.6 Curves

With the curve tool, motor motion profiles can be easily created, joined, uploaded, downloaded and saved. NOTE: On B1100 the curve feature must be enabled with an access key.

The curve tool is divided into the edit and the download window. The edit window is used to generate, merge and modify curves with the following buttons:

New Curve Starts the curve wizard, which guides through the curve generation. Edit Properties The properties of a selected curve, like name, time or stroke, can be modified. Edit Curve Values The curve points can be manually edited. Join Curves All selected curves are joined. A wizard will be started for defining the curve properties of the joined curve. The download window is used to manage the curves, which are stored on the drive or have to be downloaded. Modifications in this window will show up the message “Curves have changed! Please download.” After pressing the download into Drive button the window and the drive will be synchronized.

NTI AG / LinMot 11 / 60 Upload Curves from Drive All curves stored on the drive will be uploaded and displayed. Download Curves to Drive The drive’s curve sector will be synchronized with the download window. Auto Numerate Curves The curve ID, which must be unique, will be set automatically. The maximum number of curves and number of sample points is defined as follows: Series B1100: Max. 16 Curves #Curves * 70 Bytes + #SamplePoints1 * 4 Bytes <= 2016 Bytes Series A110/C1100: Max. 50 Curves #Curves * 70 Bytes + #SamplePoints1 * 4 Bytes <= 32512 Bytes All other Series: Max. 100 Curves #Curves * 70 Bytes + #SamplePoints1 * 4 Bytes <= 65280 Bytes 1 #SamplePoint: total of sample points in all curves 2.7 Parameters

The drive’s parameters are displayed in a tree view.

The parameter service is controlled with the following buttons:

Show/Hide Details: Additional information for each parameter, such as unique parameter ID (UPID), scaling, min/max value, can be displayed on demand. Show UPID Browser: When parameters are edited, which represent a UPID, this button will be visible. With this button, the UPID browser will be opened for an easy selection of a parameter. OK: The input value is confirmed with this button. Pressing the enter key has the same effect. Cancel: This button cancels the value typed in. Read: All parameters will be read and refreshed from the drive. When a parameter is marked with a little red L ( ), in front of the name, the parameter is a live parameter. A live parameter could be changed without stopping the firmware, all other parameter can only be changed when the firmware is stopped.

In the table below the columns of the parameterview are explained. Name: This is the Name of the Parameter

12 / 60 NTI AG / LinMot Value: Value is the ROM Value, after a restart the ROM value is written in to the RAM value. This value is editable in the LinMot-Talk Raw Data: is the Data like it is in the ROM without scaling and without the offset, in hexadecimal Value (RAM): stands in the RAM, this is the active value at the moment. This value is not editable in the LinMot-Talk. When the parameter is a live parameter then the RAM value will change when the user changes the ROM value in the LinMot-Talk UPID: Unique Parameter IDentification Type: is the type of the parameter, for example SInt32, UInt32, String ... Scale: is the scale factor from the Raw Data to the Value. Offset: is the offset that must be added to the Raw Data to receive the Value Min: is the minimal value that the parameter value could have Max: is the maximal value that the parameter value could have Default: is the value that the parameter has after defaulting the drive Attr.: The Attribut defines what are the rights of the user with this parameter. R means read, W means write, with RW is both possible

When a parameter is selected and then the F1 button would be pressed, the Object Inspecter starts up. In the Object Inspecter are some informations about the parameter. If there is a blue more in the window it is a link to the documentation where it has more information about this parameter and his functionality.

2.8 Variables

The drive’s variables, which can be watched, are arranged in different functional groups. The MC SW overview group contains the most used variables.

NTI AG / LinMot 13 / 60 The variable service is controlled with the following buttons:

Show/Hide Details Additional information for each parameter, such as unique parameter ID (UPID), scaling, min/max value, can be displayed on demand. Read Variable: Reads the selected variable from the drive once. Write Variable: Writes the selected variable to the drive. Read All Variables: Reads from the drive all variables of the section once. Read All Variables Cyclically: Reads from the drive all variables of the section cyclically. Remove (Del): Removes the selected variable from the list. The following buttons are only used in special cases. Edit Properties The parameter properties can be displayed and changed. New … Variable In a new generated variable section a new variable can be defined. This is a drop down menu, which supports different variable types. New Bit Variable In a new generated variable section a variable of the type bit can be defined. New String Variable In a new generated variable section a variable of the type string can be defined. New Float32 In a new generated variable section a variable of the type float32 can be defined. New With UPID In a new generated variable section a variable can be added by using the UPID from the appropriate parameter. Under “User Defined” any variables or parameters can be arranged together. Typically the variables are selected via UPID. It is also possible to drag and drop them from the parameter or variable section.

14 / 60 NTI AG / LinMot 2.9 Command Table

The drive supports the command table (CT) functionality, which means a set of up to 255 motion commands (31 commands for B1100GP and B1100VF series drives, on B1100PP CT is not supported) can be stored in this table. An example of is shown in the following picture:

A big variety of commands can be set in this tables, such as motion commands, conditions, sequence directives, parameter access, … This makes the CT to very powerful functional unit. The CT entries can be accessed (executed) via digital inputs (on X6) or via interface software. The CT tool has the following editing elements: Entry ID indicates the CT entry, which is being edited. Entry Name is a descriptive string of max. 16 characters Motion Command Category the available commands are fitted into groups for keeping a better overview Motion Command Type specifies the command to be executed in this entry. Auto execute new command on next cycle when selected, on the next cycle the entry specified under “ID of Sequenced Entry” will be executed. This gives the possibility of defining cycles, simple logical sequences. ID of Sequenced Entry defines the CT entry executed on the next cycle when “Auto execute new command on next cycle” is activated. Apply writes the edited values into the entry. Upload from Drive reads and displays the entire command table from the drive. Download to Drive writes the edited table (from the PC) to the drive. An application example of the CT can be found in the motion control software user manual (Usermanual_MotionCtrlSW_E1100.pdf).

2.10 Access Codes

On the drive, special features or customer specific applications can be protected by a software key. This means, a key must be activated by an access code, which is drive specific (pinned to the serial number). Under Drive\Set Access Code\ the following window will open:

A maximum of four keys can be set on the drive. Under Active Keys all valid installed keys are listed (key value and access code).

NTI AG / LinMot 15 / 60 A new key can be set by selecting the key name and defining the value and access code. With the write button, the key and access code are written to the drive. As soon as the drive has rebooted (click the Activate button) the new key will be active, if the access code fits. Please note: Access codes are drive specific. They cannot be copied from one drive to another. The following table shows on which drives the different functions are available: Legend: S: Standard Function TF: Technology Function, can be enabled with key NA: Function not available

Technology Functions Curve Force Control E1100 S TF B1100 TF TF B1150ML TF TF E1200 S TF E1400V2 S TF A1100 S TF C1100 S TF C1200 S TF C1400 S TF D1400 S NA

16 / 60 NTI AG / LinMot 2.11 Information Window

The Information Window is only visible when it has a message inside and it is activated.

It could activated with the Information Window button in the Tool button bar. The window can show the messages from the list below.

Motor Wizard: The MotorWizard was not The Motorwizard defines more Parameter used, the Motor is only then the PnP, this Parameters are not set defined by PnP. now. This message will be cleared when the user finishes the Motor Wizard Oscilloscope: An Oscilloscope has new This message shows that an oscilloscope data. has finished, it will be cleared when the user goes to an oscilloscope 3 Quick Start Guide

This chapter helps step by step to set up a system using servo drive and the LinMot- Talk configuration software. Cabling drive is described in the following chapters: Cabling E1100 Cabling E1200 Cabling E1400 Cabling B1100 Cabling B8050-ML Cabling A1100 Cabling C1100 Cabling C1200 Cabling M8000 3.1 Cabling E1100